[Libphidget-cvs-commits] CVS: libphidget/src/phidget++ CServoController.cc,1.6,1.7

[Jack S. <js...@us...>]

Update of /cvsroot/libphidget/libphidget/src/phidget++
In directory sc8-pr-cvs1:/tmp/cvs-serv9906/phidget++

Modified Files:
	CServoController.cc 
Log Message:
Minor


Index: CServoController.cc
===================================================================
RCS file: /cvsroot/libphidget/libphidget/src/phidget++/CServoController.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** CServoController.cc	16 Sep 2002 06:43:33 -0000	1.6
--- CServoController.cc	15 Dec 2002 17:32:44 -0000	1.7
***************
*** 21,52 ****
  {
  	METHOD_GUARD;
!     // Make sure it was constructed properly
!     if (classType() != LP_SERVO_CONTROLLER)
! 	throw runtime_error("Can't initialize a CServoController with a phidget that is not a servo controller");
  
!     switch (productID()) {
!     case 0x0038:
! 	{
! 	    setServoCount(4);
! 	    break;
! 	}
!     case 0x0039:
! 	{
! 	    setServoCount(1);
! 	    break;
! 	}
!     case 0x003B:
! 	{
! 	    setServoCount(8);
! 	    break;
! 	}
!     default:
  	{
! 	    char temp[128];
  
! 	    sprintf(temp, "Unknown type of servo controller Vendor ID:0x0%x  Product ID:0x0%x\n", vendorID(), productID());
! 	    throw runtime_error(temp);
  	}
-     }
  	METHOD_UNGUARD;
  }
--- 21,53 ----
  {
  	METHOD_GUARD;
! 	// Make sure it was constructed properly
! 	if (classType() != LP_SERVO_CONTROLLER)
! 		throw runtime_error("Can't initialize a CServoController with a phidget that is not a servo controller");
  
! 	switch (productID()) 
  	{
! 		case 0x0038:
! 		{
!     			setServoCount(4);
!     			break;
! 		}
! 		case 0x0039:
! 		{
!     			setServoCount(1);
!     			break;
! 		}
! 		//case 0x003B:
! 		//{
!     			//setServoCount(8);
!     			//break;
! 		//}
! 		default:
! 		{
!     			char temp[128];
  
!     			sprintf(temp, "Unknown type of servo controller Vendor ID:0x0%x  Product ID:0x0%x\n", vendorID(), productID());
!     			throw runtime_error(temp);
! 		}
  	}
  	METHOD_UNGUARD;
  }
***************
*** 55,63 ****
  {
  	METHOD_GUARD;
!     for (int t = 0; t < _servoCount; t++)
! 	if (_servos[t].first)
! 	    delete _servos[t].second;
  
!     delete[]_servos;
  	METHOD_UNGUARD;
  }
--- 56,64 ----
  {
  	METHOD_GUARD;
! 	for (int t = 0; t < _servoCount; t++)
! 		if (_servos[t].first)
!     			delete _servos[t].second;
  
! 	delete[]_servos;
  	METHOD_UNGUARD;
  }
***************
*** 66,73 ****
  {
  	METHOD_GUARD;
!     if (uid.serial() == UID().serial() && uid.id() >= 0 && uid.id() < _servoCount)
! 	return (servo(uid.id(), create));
  
!     return (CPhidget::find(uid));
  	METHOD_UNGUARD;
  }
--- 67,74 ----
  {
  	METHOD_GUARD;
! 	if (uid.serial() == UID().serial() && uid.id() >= 0 && uid.id() < _servoCount)
! 		return (servo(uid.id(), create));
  
! 	return (CPhidget::find(uid));
  	METHOD_UNGUARD;
  }
***************
*** 76,88 ****
  {
  	METHOD_GUARD;
!     if (id < 0 || id >= _servoCount)
! 	throw runtime_error("Invalid servo id");
  
!     if (create && _servos[id].second == NULL) {
! 	_servos[id].first = true;
! 	_servos[id].second = new CServo (this, id);
!     }
  
!     return (_servos[id].second);
  	METHOD_UNGUARD;
  }
--- 77,90 ----
  {
  	METHOD_GUARD;
! 	if (id < 0 || id >= _servoCount)
! 		throw runtime_error("Invalid servo id");
  
! 	if (create && _servos[id].second == NULL) 
! 	{
! 		_servos[id].first = true;
! 		_servos[id].second = new CServo (this, id);
! 	}
  
! 	return (_servos[id].second);
  	METHOD_UNGUARD;
  }
***************
*** 91,102 ****
  {
  	METHOD_GUARD;
!     if (id < 0 || id >= _servoCount)
! 	throw runtime_error("Invalid servo id");
  
!     if (_servos[id].second != NULL)
! 	throw runtime_error("This servo id is already being used.");
  
!     _servos[id].first = false;
!     _servos[id].second = servo;
  	METHOD_UNGUARD;
  }
--- 93,104 ----
  {
  	METHOD_GUARD;
! 	if (id < 0 || id >= _servoCount)
! 		throw runtime_error("Invalid servo id");
  
! 	if (_servos[id].second != NULL)
! 		throw runtime_error("This servo id is already being used.");
  
! 	_servos[id].first = false;
! 	_servos[id].second = servo;
  	METHOD_UNGUARD;
  }
***************
*** 105,119 ****
  {
  	METHOD_GUARD;
!     if ((uid.id() < 0 && uid.id() >= _servoCount)
! 	|| uid.serial() != UID().serial())
! 	throw runtime_error("Invalid servo id");
! 
! 
!     if (_servos[uid.id()].first)
! 	throw runtime_error("Can't unregister a system managed servo");
  
  
!     _servos[uid.id()].first = true;
!     _servos[uid.id()].second = NULL;
  	METHOD_UNGUARD;
  }
--- 107,118 ----
  {
  	METHOD_GUARD;
! 	if ((uid.id() < 0 && uid.id() >= _servoCount) || uid.serial() != UID().serial())
! 		throw runtime_error("Invalid servo id");
  
+ 	if (_servos[uid.id()].first)
+ 		throw runtime_error("Can't unregister a system managed servo");
  
! 	_servos[uid.id()].first = true;
! 	_servos[uid.id()].second = NULL;
  	METHOD_UNGUARD;
  }
***************
*** 122,133 ****
  {
  	METHOD_GUARD;
!     _servoCount = num;
  
!     _servos = new pair < bool, CServo *>[_servoCount];
  
!     for (int t = 0; t < _servoCount; t++) {
! 	_servos[t].first = true;
! 	_servos[t].second = NULL;
!     }
  	METHOD_UNGUARD;
  }
--- 121,134 ----
  {
  	METHOD_GUARD;
! 	_servoCount = num;
  
! 	_servos = new pair < bool, CServo *>[_servoCount];
  
! 	for (int t = 0; t < _servoCount; t++) 
! 	{
! 		_servos[t].first = true;
! 		_servos[t].second = NULL;
! 	}
! 	
  	METHOD_UNGUARD;
  }
***************
*** 208,225 ****
  {
  	METHOD_GUARD;
!     if (_servoCount) {
! 	float p1 = 0, p2 = 0, p3 = 0, p4 = 0;
  
! 	if (_servoCount >= 1 && _servos[0].second != NULL)
! 	    p1 = _servos[0].second->position();
! 	if (_servoCount >= 2 && _servos[1].second != NULL)
! 	    p2 = _servos[1].second->position();
! 	if (_servoCount >= 3 && _servos[2].second != NULL)
! 	    p3 = _servos[2].second->position();
! 	if (_servoCount >= 4 && _servos[3].second != NULL)
! 	    p4 = _servos[3].second->position();
  
! 	error(phidgetQuadServo(device(), p1, p2, p3, p4));
!     }
  	METHOD_UNGUARD;
  }
--- 209,230 ----
  {
  	METHOD_GUARD;
! 	if (_servoCount) 
! 	{
! 		float p1 = 0, p2 = 0, p3 = 0, p4 = 0;
  
! 		if (_servoCount >= 1 && _servos[0].second != NULL)
!     			p1 = _servos[0].second->position();
  
! 		if (_servoCount >= 2 && _servos[1].second != NULL)
!     			p2 = _servos[1].second->position();
! 
! 		if (_servoCount >= 3 && _servos[2].second != NULL)
!     			p3 = _servos[2].second->position();
! 
! 		if (_servoCount >= 4 && _servos[3].second != NULL)
!     			p4 = _servos[3].second->position();
! 
! 		error(phidgetQuadServo(device(), p1, p2, p3, p4));
! 	}
  	METHOD_UNGUARD;
  }